Transferring Storage Devices Within Storage Device Testing Systems

ABSTRACT

A method of transferring storage devices within a storage device testing system includes actuating an automated transporter to retrieve multiple storage devices presented for testing, and actuating the automated transporter to deliver each retrieved storage device to a respective test slot of the storage device testing system and insert each storage device in the respective test slot.

TECHNICAL FIELD

This disclosure relates to transferring storage devices within storagedevice testing systems.

BACKGROUND

Disk drive manufacturers typically test manufactured disk drives forcompliance with a collection of requirements. Test equipment andtechniques exist for testing large numbers of disk drives serially or inparallel. Manufacturers tend to test large numbers of disk drivessimultaneously in batches. Disk drive testing systems typically includeone or more racks having multiple test slots that receive disk drivesfor testing.

The testing environment immediately around the disk drive is closelyregulated. Minimum temperature fluctuations in the testing environmentare critical for accurate test conditions and for safety of the diskdrives. The latest generations of disk drives, which have highercapacities, faster rotational speeds and smaller head clearance, aremore sensitive to vibration. Excess vibration can affect the reliabilityof test results and the integrity of electrical connections. Under testconditions, the drives themselves can propagate vibrations throughsupporting structures or fixtures to adjacent units. This vibration“cross-talking,” together with external sources of vibration,contributes to bump errors, head slap and non-repetitive run-out (NRRO),which may result in lower test yields and increased manufacturing costs.

Current disk drive testing systems use an operator, a robotic arm, or aconveyer belt to individually feed disk drives to a transfer locationfor loading into the testing system for testing. A robotic arm of thetesting system individually retrieves the disk drives from the transferlocation and loads them in test slots for testing.

SUMMARY

In one aspect, a method of transferring storage devices within a storagedevice testing system includes actuating an automated transporter (e.g.robotic arm, gantry system, or multi-axis linear actuator) to retrievemultiple storage devices presented for testing, and actuating theautomated transporter to deliver each retrieved storage device to arespective test slot of the storage device testing system and to inserteach storage device in the respective test slot.

Implementations of this aspect of the disclosure may include one or moreof the following features. In some implementations, the method includesactuating the automated transporter to retrieve multiple storage devicetransporters, actuating the automated transporter to retrieve thestorage devices presented for testing by carrying each of the storagedevices with respective storage device transporters, and actuating theautomated transporter to deliver the storage device transporters, eachcarrying one of the storage devices, to the respective test slots. Insome examples, each of the storage device transporters is inserted intoa respective test slot, engaging the carried storage device with arespective connector of the storage device testing system. The insertedstorage device transporters provide closure of their respective testslots.

In some implementations, the storage devices are present in at least onestorage device tote presented to the storage device testing system. Theautomated transporter retrieves each of the storage devices from the atleast one storage device tote with the corresponding storage devicetransporter by positioning the storage device transporter below thestorage device, lifting the storage device off a storage device supportof the storage device tote, and carrying the storage device in thestorage device transporter away from the storage device tote.

The automated transporter preferably includes a manipulator configuredto transport multiple storage devices. For example, in the case of arobotic arm as the automated transporter, the manipulator is secured toa distal end of the robot arm. In some examples, the manipulatorincludes first and second connectors disposed on a manipulator body andarranged in a substantially V-shaped configuration with respect to eachother. The connectors are configured to releasably attach to a storagedevice transporter.

In another aspect, a method of transferring storage devices within astorage device testing system includes actuating an automatedtransporter having a manipulator to retrieve an untested storage devicepresented for testing. The manipulator is configured to transportmultiple storage devices. The method includes actuating the automatedtransporter to deliver the retrieved untested storage device to arespective test slot of the storage device testing system and insert theuntested storage device in its respective test slot for testing.

Implementations of this aspect of the disclosure may include one or moreof the following features. In some implementations, the manipulatorincludes first and second connectors disposed on a manipulator body andarranged in a substantially V-shaped configuration with respect to eachother. However, in some examples, the first and second connectors aredisposed 180 degrees from one another. The connectors are configured toreleasably attach to a storage device transporter.

In some examples, the method includes actuating the automatedtransporter to retrieve a storage device transporter, actuating theautomated transporter to retrieve the untested storage device presentedfor testing by carrying the untested storage device with the storagedevice transporter, and actuating the automated transporter to deliverthe storage device transporter to the respective test slot. The storagedevice transporter is inserted into the test slots, engaging the carrieduntested storage device with a respective connector of the storagedevice testing system. The inserted storage device transporter providesclosure of its respective test slot.

In some implementations, the untested storage device is present in astorage device tote presented to the storage device testing system. Theautomated transporter retrieves the untested storage device from thestorage device tote with the corresponding storage device transporter bypositioning the storage device transporter below the untested storagedevice, lifting the untested storage device off a storage device supportof the storage device tote, and carrying the untested storage device inthe storage device transporter away from the storage device tote.

In some implementations, the method includes actuating the automatedtransporter and the manipulator to retrieve a tested storage device fromits respective test slot and carrying the tested storage device to adestination location, such as a destination storage device tote. Themethod may include actuating the automated transporter to retrieve thetested storage device from its respective test slot by actuating themanipulator to engage a respective storage device transporter of thetested storage device and carrying the tested storage device with itsrespective storage device transporter to the destination location. Themethod may include actuating the automated transporter to deliver thestorage device carried by its respective storage device transporter to areceptacle of a destination storage device tote.

In another aspect, a method of transferring storage devices within astorage device testing system includes actuating an automatedtransporter having a manipulator to retrieve a first storage devicehoused in a first test slot of the storage device testing system. Themanipulator is configured to transport multiple storage devices. Themethod includes actuating the automated transporter to deliver theretrieved first storage device to a second test slot, actuating theautomated transporter to retrieve a second storage device from thesecond test slot while carrying the first storage device, and actuatingthe automated transporter to insert the first storage device into thesecond test slot while carrying the second storage device.

Implementations of this aspect of the disclosure may include one or moreof the following features. In some implementations, the method includesactuating the automated transporter to deliver the retrieved secondstorage device to the first test slot, and

actuating the automated transporter to insert the second storage deviceinto the first test slot. The manipulator includes a manipulator bodyand first and second connectors disposed on the manipulator body. Theconnectors are arranged in a substantially V-shaped configuration withrespect to each other and are each configured to releasably attach to astorage device transporter. The manipulator transports the first andsecond storage devices in corresponding releasably attached storagedevice transporters. In examples where the storage devices are eachcarried in a corresponding storage device transporter, inserting eachstorage device into one of the test slots includes inserting thecorresponding storage device transporter into the respective test slot,engaging the carried storage device with a respective connector of thestorage device testing system, the inserted storage device transporterproviding closure of its respective test slot.

In yet another aspect, a storage device testing system includes anautomated transporter, at least one rack about the automated transporterfor access by the automated transporter, and multiple test slots housedby each rack. Each test slot is configured to receive a storage devicefor testing. A transfer station, arranged for access by the automatedtransporter, presents multiple storage devices for testing. Amanipulator attached to the automated transporter is configured to carrymultiple storage devices.

Implementations of this aspect of the disclosure may include one or moreof the following features. In some implementations, the manipulator isconfigured to releasably attach to multiple storage device transporters.The manipulator includes first and second connectors disposed on amanipulator body and arranged in a substantially V-shaped configurationwith respect to each other. The connectors are configured to releasablyattach to a storage device transporter.

In some examples, the transfer station includes a transfer stationhousing configured to receive and support multiple storage device totesin a presentation position for servicing by the automated transporter.Each storage device tote includes a tote body defining multiple storagedevice receptacles configured to each house a storage device.

The details of one or more implementations of the disclosure are setforth in the accompanying drawings and the description below. Otherfeatures, objects, and advantages will be apparent from the descriptionand drawings, and from the claims.

DESCRIPTION OF DRAWINGS

FIG. 1 is a perspective view of a storage device testing system and atransfer station.

FIG. 2 is a top view of a storage device testing system and a transferstation.

FIG. 3 is a perspective view of a storage device testing system and atransfer station.

FIG. 4 is a perspective view of a storage device being inserted into atest slot of a storage device testing system.

FIG. 5 is a perspective view of a storage device transporter.

FIG. 6 is a perspective view of a storage device transporter carrying astorage device.

FIG. 7 is a bottom perspective view of a storage device transportercarrying a storage device.

FIG. 8 is a perspective view of a robotic arm with a manipulator securedto its distal end.

FIG. 9 is an elevated front perspective view of a manipulator for arobotic arm.

FIG. 10 is a elevated rear perspective view of the manipulator shown inFIG. 9.

FIG. 11 is an elevated front perspective view of a manipulator for arobotic arm.

FIG. 12 is a perspective view of a storage device tote in a loadingposition.

FIG. 13 is a perspective view of a storage device tote in a presentationposition.

FIG. 14 is a perspective view of a transfer station.

FIG. 15 is a perspective view of a tote in a presentation position forplacement on a tote presentation support system of a transfer station.

Like reference symbols in the various drawings indicate like elements.

DETAILED DESCRIPTION

Bulk feeding of storage devices in a storage device testing system isadvantageous over manual individual feeding of storage devices byproviding increased through-put and efficiency of the storage devicetesting system, inter alia. As will be discussed in detail, presentingmultiple storage device totes (also referred to as totes), which holdmultiple storage devices, to a storage device testing system allowscontinual storage device testing, disk sorting amongst multiple storagedevice totes, minimal user intervention, and increased efficiency overcurrent systems, inter alia. Bulk feeding of storage devices in storagedevice totes provides the advantage of shop floor flexibility (e.g. byproviding the ability to easily redirect a storage device tote or a cartor trolley carrying storage device totes versus rerouting fixedconveyors). An operator can present a batch of drives (e.g. via thestorage device tote) to the storage device testing system and then walkaway to service another system. Bulk feeding of storage devices instorage device totes also allows automatic sorting of tested drives withthe storage device totes, as will be discussed below.

A storage device, as used herein, includes disk drives, solid statedrives, memory devices, and any device that requires asynchronoustesting for validation. A disk drive is generally a non-volatile storagedevice which stores digitally encoded data on rapidly rotating platterswith magnetic surfaces. A solid-state drive (SSD) is a data storagedevice that uses solid-state memory to store persistent data. An SSDusing SRAM or DRAM (instead of flash memory) is often called aRAM-drive. The term solid-state generally distinguishes solid-stateelectronics from electromechanical devices.

Referring to FIGS. 1-3, in some implementations, a storage devicetesting system 100 includes at least one automated transporter 200 (e.g.robotic arm, gantry system, or multi-axis linear actuator) defining afirst axis 205 (see FIG. 3) substantially normal to a floor surface 10.In the examples shown, the automated transporter 200 comprises a roboticarm 200 operable to rotate through a predetermined arc about the firstaxis 205 and to extend radially from the first axis 205. The robotic arm200 is operable to rotate 360° about the first axis 205 and includes amanipulator 700 disposed at a distal end of the robotic arm 200 tohandle one or more storage devices 500 and/or storage devicetransporters 550 to carry the storage devices 500 (see e.g. FIGS. 5-6).Multiple racks 300 are arranged around the robotic arm 200 for servicingby the robotic arm 200. Each rack 300 houses multiple test slots 310configured to receive storage devices 500 for testing. The robotic arm200 defines a substantially cylindrical working envelope volume 210,with the racks 300 being arranged within the working envelope 210 foraccessibility of each test slot 310 for servicing by the robotic arm200. The substantially cylindrical working envelope volume 210 providesa compact footprint and is generally only limited in capacity by heightconstraints. In some examples, the robotic arm 200 is elevated by andsupported on a pedestal or lift 250 on the floor surface 10. Thepedestal or lift 250 increases the size of the working envelope volume210 by allowing the robotic arm 200 to reach not only upwardly, but alsodownwardly to service test slots 310. The size of the working envelopevolume 210 can be further increased by adding a vertical actuator to thepedestal or lift 250.

The automated transporter 200 (e.g. robotic arm) is configured toindependently service each test slot 310 to provide a continuous flow ofstorage devices 500 through the testing system 100. A continuous flow ofindividual storage devices 500 through the testing system 100 allowsrandom start and stop times for each storage device 500, whereas othersystems that require batches of storage devices 500 to be run all atonce as an entire testing loaded must all have the same start and endtimes. Therefore, with continuous flow, storage devices 500 of differentcapacities can be run at the same time and serviced (loaded/unloaded) asneeded.

Referring to FIGS. 3-4, the storage device testing system 100 includes atransfer station 400 configured for bulk feeding of storage devices 500to the automated transporter 200 (e.g. a robotic arm, as shown). Theautomated transporter 200 independently services each test slot 310 bytransferring a storage device 500 between the transfer station 400 andthe test slot 310. The transfer station 400 houses one or more totes 600carrying multiple storage devices 500 presented for servicing by theautomated transporter 200. The transfer station 400 is a service pointfor delivering and retrieving storage devices 500 to and from thestorage device testing system 100. The totes 600 allow an operator todeliver and retrieve a collection of storage devices 500 to and from thetransfer station 400. In the example shown in FIG. 3, each tote 600 isaccessible from respective tote presentation support systems 420 in apresentation position and may be designated as a source tote 600 forsupplying a collection of storage devices 500 for testing or as adestination tote 600 for receiving tested storage devices 500 (or both).Destination totes 600 may be classified as “passed return totes” or“failed return totes” for receiving respective storage devices 500 thathave either passed or failed a functionality test, respectively.

In implementations that employ storage device transporters 550 formanipulating storage devices 500, as shown in FIG. 4, the robotic arm200 is configured to remove a storage device transporter 550 from one ofthe test slots 310 with the manipulator 700, then pick up a storagedevice 500 from one the totes 600 presented at the transfer station 400with the storage device transporter 550, and then return the storagedevice transporter 550, with a storage device 500 therein, to the testslot 310 for testing of the storage device 500. After testing, therobotic arm 200 retrieves the tested storage device 500 from the testslot 310, by removing the storage device transporter 550 carrying thetested storage device 500 from the test slot 310 (i.e., with themanipulator 700), carrying the tested storage device 500 in the storagedevice transporter 550 to the transfer station 400, and manipulating thestorage device transporter 550 to return the tested storage device 500to one of the totes 600 at the transfer station 400.

The test slot 310, shown in FIG. 4, defines an opening 312 configured toreceive the storage device transporter 550, which in this case providesclosure of the test slot 310. The storage device transporter 550 isconfigured to receive the storage device 500, as shown in FIG. 5, and behandled by the automated transporter 200. In use, one of the storagedevice transporters 550 is removed from one of the test slots 310 withthe robot 200 (e.g., by grabbing, or otherwise engaging, the indentation552 of the transporter 550 with the manipulator 700 of the robot 200).In some examples, as illustrated in FIGS. 5-7, the storage devicetransporter 550 includes a frame 560 defining a substantially U-shapedopening 561 formed by sidewalls 562, 564 and a base plate 566 thatcollectively allow the frame 560 to fit around a storage device support(not shown) in the tote 600 so that the storage device transporter 550can be moved (e.g., via the robotic arm 200) into a position beneath oneof the storage devices 500 housed in one of multiple storage devicereceptacles 620 defined by the tote 600 (see e.g., FIGS. 8-9). Thestorage device transporter 550 can then be raised (e.g., by the roboticarm 310) into a position engaging the storage device 600 for removalfrom the tote 600.

With the storage device 500 in place within the frame 560 of the storagedevice transporter 550, the storage device transporter 550 and thestorage device 500 together can be moved by the robotic arm 200 forplacement within one of the test slots 310, as shown in FIG. 4. In someimplementations, the manipulator 700 is also configured to initiateactuation of a clamping mechanism 570 disposed in the storage devicetransporter 550. This allows actuation of the clamping mechanism 570before the transporter 550 is moved from the tote 600 to the test slot310 to inhibit movement of the storage device 500 relative to thestorage device transporter 550 during the move. Prior to insertion inthe test slot 310, the manipulator 700 can again actuate the clampingmechanism 570 to release the storage device 500 within the frame 560.This allows for insertion of the storage device transporter 550 into oneof the test slots 310, until the storage device 500 is in a testposition with a storage device connector 510 engaged with a test slotconnector (not shown). The clamping mechanism 570 may also be configuredto engage the test slot 310, once received therein, to inhibit movementof the storage device transporter 550 relative to the test slot 310. Insuch implementations, once the storage device 500 is in the testposition, the clamping mechanism 570 is engaged again (e.g., by themanipulator 700) to inhibit movement of the storage device transporter550 relative to the test slot 310. The clamping of the transporter 550in this manner can help to reduce vibrations during testing. In someexamples, after insertion, the storage device transporter 550 andstorage device 500 carried therein are both clamped or secured incombination or individually within the test slot 310.

Referring to FIGS. 8-11, the manipulator 700 is secured to a distal end202 of the robotic arm 200. The manipulator 700 includes first andsecond arms 720, 730 disposed on a manipulator body 710 and arranged ina substantially V-shaped configuration with respect to each other. Insome implementations, the arms 720, 730 can be disposed in otherarrangements, such as 180 degrees from each other or some other angletherebetween. The arms 720, 730 each have connectors 740 configured toreleasably attach to a storage device transporter 550. In the examplesshown, each connector 740 includes first and second tabs 742, 744opposedly coupled to a tab actuator 750 disposed on the arm 720,730. Thetab actuator 750 is operable to move its coupled tabs 742, 744 inopposing directions to releasably engage and hold a storage devicetransporter 550. To grab the storage device transporter 550, the roboticarm 200 and manipulator 700 are actuated to maneuver one of theconnectors 740 to place the tabs 742, 744 into the indentation 552 ofthe storage device transporter 550 and then actuate the tab actuator 740to move the tabs 742, 744 away from each other and engage theindentation 552 to releasable attach to the storage device transporter550. In some examples, the tabs 742, 744 are hook shaped and/or havefriction pads to engage the indentation 552 of the storage devicetransporter 550. Each arm 720, 730 of the manipulator 700 has first andsecond clamp actuators 762, 764 configured to engage the clampingmechanism 570 of the storage device transporter 550. The clamp actuators762, 764 may be operable to push or pull on the clamping mechanism 570to engage/disengage the clamping mechanism 570.

In the example illustrated in FIGS. 12-13, the tote 600 includes a totebody 610 having a front side 611, a back side 612, a top side 613, abottom side 614, a right side 615 and a left side 616. The tote body 610defines multiple storage device receptacles 620 in the front side 611that are each configured to house a storage device 500. In someexamples, the tote 600 rests on its back side 612 while in the loadingposition, such that the storage device receptacles 620 are substantiallyvertical and face upward, as shown in FIG. 12. In other examples, thetote 600 is held in another orientation while in the loading position,such as at an incline or in a vertical orientation, as with thepresentation position. In the presentation position, the tote 600 restson its bottom side 614, such that the storage device receptacles 620 aresubstantially horizontal and face laterally, as shown in FIG. 13. Thetote body 610 defines arm grooves 630 in the right and left sides 615,616 of the tote body 610 that are configured to support the tote 600.

In the example shown, each storage device receptacle 620 includes astorage device support 622 configured to support a central portion 502(see FIG. 7) of the received storage device 500 to allow manipulation ofthe storage device 500 along non-central portions. In someimplementations, the storage device support 622 is configured to supportthe storage device 500 at an incline, while the tote 600 is in asubstantially vertical orientation, such that the storage device 500 hasa tending to slide deeper into the storage device receptacle 620, ratherthan out of the storage device receptacle 620. To remove a housedstorage device 500 from the storage device receptacle 620, the storagedevice transporter 550 is positioned below the storage device 500 (e.g.by the robotic arm 200) in the storage device receptacle 620 andelevated to lift the storage device 500 off of the storage devicesupport 622. The storage device transporter 550 is then removed from thestorage device receptacle 620 while carrying the storage device 500 fordelivery to a destination target, such as a test slot 310.

Referring to FIG. 14, in some implementations, the transfer station 400includes a transfer station housing 410 and multiple tote presentationsupport systems 420 disposed on the transfer station housing 410. Eachtote presentation support system 420 is configured to receive andsupport a storage device tote 600 in a presentation position forservicing by the storage device testing system 100.

In some implementations, the tote presentation support systems 420 areeach disposed on the same side of the transfer station housing 410 andarranged vertically with respect to each other. Each tote presentationsupport systems 420 has a different elevation with respect to theothers. In some examples, as shown in FIG. 15, the tote presentationsupport system 420 includes first and second opposing pairs 422, 424 oftote support arms 426 configured to be received by respective armgrooves 630 defined by the tote body 610 of the storage device tote 600.

Referring again to FIG. 14, a tote mover 430 is disposed on the transferstation housing 410 and is configured to move a pivotally coupled toteloading support 440, which is configured to receive and support astorage device tote 600. The tote loading support 440 pivots and movesbetween a first position and a second position. The tote mover 430 isconfigured to move the tote loading support 440 between the firstposition, for holding a storage device tote 600 in a loading position(e.g. in a horizontal orientation at the loading support's firstposition), and the second position, for holding a storage device tote600 in the presentation position (e.g. in a substantially verticalorientation) at one of the tote presentation support systems 420 forservicing by the storage device testing system 100 (e.g. by the roboticarm 200). In some examples, the tote presentation support system 420holds the tote 600 at a slightly inclined (e.g. off vertical)orientation to keep storage devices 500 from accidentally slipping outof the tote 600.

A method of performing storage device testing includes presentingmultiple storage devices 500 to a storage device testing system 100 fortesting and actuating an automated transporter 200 (e.g. robotic arm) toretrieve one of the storage devices 500 from the storage device tote 600and deliver the retrieved storage device 500 to a test slot 310 of arack 300 of the storage device testing system 100. The method includesactuating the automated transporter 200 to insert the storage device 500in the test slot 310, and performing a functionality test on the storagedevice 500 received by the test slot 310. The method may also includeactuating the automated transporter 200 to retrieve the tested storagedevice 500 from the test slot 310 and deliver the tested storage device500 back to a destination location. In some implementations, the methodincludes retrieving multiple presented storage devices 500 anddelivering each of the storage devices to a respective test slot 310. Inother implementations, the method includes shuffling storage devices 500amongst test slots 310 by actuating the automated transporter 200 toremove a first storage device 500 from a first test slot 310 andcarrying it with the first arm 720 of the manipulator 700, moving to asecond test slot 310 and removing a second storage device 500 andcarrying it with the second arm 730 of the manipulator 700, and theninserting the first storage device 500 into the second slot 310. Themethod may also include actuating the automated transporter 200 to movethe second storage device to the first test slot 310 and inserting thesecond storage device 500 in the first test slot 310. For this mode ofoperation (storage device shuffling), the dual-armed manipulator 700provides distinct advantages over a single-armed manipulator by allowingdirect exchanges of storage devices 500 at each stop, rather than havingto take a storage device 500 out of a first test slot 310, park thestorage device 500 in an empty slot 310 or in a tote 600, retrieveanother storage device 500 from a second slot 310 and insert thatstorage device 500 into the first test slot 310, and then retrieve theparked storage device 500 and insert it in the second slot 310. Thedual-armed manipulator 700 removes the step of parking one of thestorage devices 500 while swapping storage devices 500 amongst two testslots 310.

Presenting multiple storage devices 500 for testing may be achieved byloading multiple storage devices 500 into/onto a transfer station 400,as by loading the storage devices 500 into storage device receptacles620 defined by a storage device tote 600, and loading the storage devicetote 600 into/onto the transfer station 400. A tote mover 430 of thetransfer station 400 is actuated to move the storage device tote 600from a loading position to a presentation position for servicing by thestorage device testing system 100. The storage device tote 600 issupported in the presentation position by one of multiple totepresentation support systems 420 disposed on the transfer stationhousing 410 and arranged vertically with respect to each other. Multiplestorage device totes 600, each housing storage devices 500, can besequentially placed in the loading position on the transfer station 400and moved by the tote mover 430 to its respective presentation positionat one of the multiple tote presentation support systems 420 forservicing by the storage device testing system 100.

In retrieving one or more of the presented storage devices 500 fortesting, the method preferably includes actuating the automatedtransporter 200 to retrieve a storage device transporter 550 (e.g. froma test slot 310 housed in a rack 300), and actuating the automatedtransporter 200 to retrieve one of the storage devices 500 from thetransfer station 400 and carry the storage device 500 in the storagedevice transporter 550. The method includes actuating the automatedtransporter 200 to deliver the storage device transporter 550 carryingthe storage device 500 to the test slot 310 for performing afunctionality test on the storage device 500 housed by the receivedstorage device transporter 550 and the test slot 310. In some examples,delivering the storage device transporter 550 to the test slot 310includes inserting the storage device transporter 550 carrying thestorage device 500 into the test slot 310 in the rack 300, establishingan electric connection between the storage device 500 and the rack 300.After testing is completed on the storage device 500, the methodincludes actuating the automated transporter 200 to retrieve the storagedevice transporter 550 carrying the tested storage device 500 from thetest slot 310 and delivering the tested storage device 500 back to adestination location, such as a destination storage device tote 600 onthe transfer station 400. In some implementations, the rack 300 and twoor more associated test slots 310 are configured to move storage devices500 internally from one test slot 310 to another test slot 310, as inthe case where the test slots 310 are provisioned for different kinds oftests.

In some examples, the method includes actuating the automatedtransporter 200 to deposit the storage device transporter 550 in thetest slot 310 after depositing the tested storage device 500 at adestination location (e.g. in a storage device receptacle 620 of adestination storage device tote 600), or repeating the method byretrieving another storage device 500 for testing (e.g. from the storagedevice receptacle 620 of a source storage device tote 600).

In some implementations, the automated transporter 200 includes themanipulator 700, discussed above, which allows the automated transporter200 to retrieve, handle, and deliver multiple storage devices 500 and/orstorage device transporters 550. For example, the automated transporter200 can retrieve and carry one untested storage device 500 in a storagedevice transporter 500 held by one arm 720, 730 of the manipulator 700,and deliver the untested storage device 500 to a test slot 310. At thetest slot 310, the automated transporter 200 removes a storage devicetransporter 550 carrying a test storage device 500 currently in the testslot 310, before inserting the storage device transporter 550 carryingthe untested storage device 500 into the test slot 310 for testing. Theautomated transporter 200 then delivers the tested storage device 500 toa destination location, such as a receptacle 620 of a destinationstorage device tote 600. In another example, the automated transporter200 can retrieve and carry two untested storage devices 500, one on eacharm 720, 730 of the manipulator 700, and then deliver the two untestedstorage devices 500 to respective test slots 310 for testing. Theautomated transporter 700 can then be actuated to retrieve two testedstorage devices 500 from their respective slots 310 (e.g. by engagingand removing their respective storage device transporters 550 with themanipulator 700), and deliver the tested storage devices 500 to adestination location, such as two receptacles 620 of one or moredestination storage device totes 600. If one tested storage device 500passed the storage device testing and the other failed, they may beplaced in different destination storage device totes 600, such a“passed” storage device tote 600 and a “failed” storage device tote 600.

The manipulator 700 allows the automated transporter 200 to movemultiple storage devices 500 and/or storage device transporters 550within the storage device testing system 100 to accomplish more tasksthan previously achievable by a manipulator capable of only handling onestorage device 500 and/or storage device transporter 550 at a time. Theincreased flexibility allows for path planning of the automatedtransporter 200 to optimize its movements.

A number of implementations have been described. Nevertheless, it willbe understood that various modifications may be made without departingfrom the spirit and scope of the disclosure. Accordingly, otherimplementations are within the scope of the following claims.

1. A method of transferring storage devices within a storage devicetesting system, the method comprising: actuating an automatedtransporter to retrieve multiple storage devices presented for testing;and actuating the automated transporter to deliver each retrievedstorage device to a respective test slot of the storage device testingsystem and to insert each storage device in the respective test slot. 2.The method of claim 1, further comprising: actuating the automatedtransporter to retrieve multiple storage device transporters; actuatingthe automated transporter to retrieve the storage devices presented fortesting by carrying each of the storage devices with respective storagedevice transporters; and actuating the automated transporter to deliverthe storage device transporters, each carrying one of the storagedevices, to the respective test slots.
 3. The method of claim 2, furthercomprising inserting each of the storage device transporters into arespective test slot, engaging the carried storage device with arespective connector of the storage device testing system, the insertedstorage device transporters providing closure of their respective testslots.
 4. The method of claim 2, wherein the storage devices are presentin at least one storage device tote presented to the storage devicetesting system.
 5. The method of claim 4, further comprising actuatingthe automated transporter to retrieve each of the storage devices fromthe at least one storage device tote with the corresponding storagedevice transporter by positioning the storage device transporter belowthe storage device, lifting the storage device off a storage devicesupport of the storage device tote, and carrying the storage device inthe storage device transporter away from the storage device tote.
 6. Themethod of any of claim 1, wherein the automated transporter comprises amanipulator comprising: a manipulator body; and first and secondconnectors disposed on the manipulator body and arranged in asubstantially V-shaped configuration with respect to each other, eachconnector being configured to releasably attach to a storage devicetransporter.
 7. A method of transferring storage devices within astorage device testing system, the method comprising: actuating anautomated transporter having a manipulator to retrieve an untestedstorage device presented for testing, the manipulator being configuredto transport multiple storage devices; and actuating the automatedtransporter to deliver the retrieved untested storage device to arespective test slot of the storage device testing system and insert theuntested storage device in its respective test slot for testing.
 8. Themethod of claim 7, wherein the manipulator comprises: a manipulatorbody; and first and second connectors disposed on the manipulator bodyand arranged in a substantially V-shaped configuration with respect toeach other, each connector being configured to releasably attach to astorage device transporter.
 9. The method of claim 7, furthercomprising: actuating the automated transporter to retrieve a storagedevice transporter; actuating the automated transporter to retrieve theuntested storage device presented for testing by carrying the untestedstorage device with the storage device transporter; and actuating theautomated transporter to deliver the storage device transporter to therespective test slot.
 10. The method of claim 9, further comprisinginserting the storage device transporter into a respective test slot,engaging the carried storage device with a respective connector of thestorage device testing system, the inserted storage device transportersproviding closure of their respective test slots.
 11. The method ofclaim 9, wherein the untested storage device is present in a storagedevice tote presented to the storage device testing system.
 12. Themethod of claim 11, further comprising actuating the automatedtransporter to retrieve each of the storage devices from the at leastone storage device tote with the corresponding storage devicetransporter by positioning the storage device transporter below thestorage device, lifting the storage device off a storage device supportof the storage device tote, and carrying the storage device in thestorage device transporter away from the storage device tote.
 13. Themethod of claim 7, further comprising actuating the automatedtransporter and the manipulator to retrieve a tested storage device fromits respective test slot and carrying the tested storage device to adestination location.
 14. The method of claim 13, further comprisingactuating the automated transporter to retrieve the tested storagedevice from its respective test slot by actuating the manipulator toengage a respective storage device transporter of the tested storagedevice and carrying the tested storage device with its respectivestorage device transporter to the destination location.
 15. The methodof claim 14, further comprising actuating the automated transporter todeliver the storage device carried by its respective storage devicetransporter to a receptacle of a destination storage device tote.
 16. Amethod of transferring storage devices within a storage device testingsystem, the method comprising: actuating an automated transporter havinga manipulator to retrieve a first storage device housed in a first testslot of the storage device testing system, the manipulator beingconfigured to transport multiple storage devices; actuating theautomated transporter to deliver the retrieved first storage device to asecond test slot; actuating the automated transporter to retrieve asecond storage device from the second test slot while carrying the firststorage device; and actuating the automated transporter to insert thefirst storage device into the second test slot while carrying the secondstorage device.
 17. The method of claim 16, further comprising:actuating the automated transporter to deliver the retrieved secondstorage device to the first test slot; and actuating the automatedtransporter to insert the second storage device into the first testslot.
 18. The method of claim 16, wherein the manipulator comprises: amanipulator body; first and second connectors disposed on themanipulator body and arranged in a substantially V-shaped configurationwith respect to each other, each connector being configured toreleasably attach to a storage device transporter; wherein themanipulator transports the first and second storage devices incorresponding releasably attached storage device transporters.
 19. Themethod of claim 16, wherein the storage devices are each carried in acorresponding storage device transporter, and wherein inserting eachstorage device into one of the test slots comprises inserting thecorresponding storage device transporter into the respective test slot,engaging the carried storage device with a respective connector of thestorage device testing system, the inserted storage device transporterproviding closure of its respective test slot.
 20. A storage devicetesting system comprising: an automated transporter; at least one rackarranged about the automated transporter for access by the automatedtransporter; multiple test slots housed by each rack, each test slotbeing configured to receive a storage device for testing; a transferstation arranged for access by the automated transporter, the transferstation presenting multiple storage devices for testing; and amanipulator attached to the automated transporter, the manipulator beingconfigured to carry multiple storage devices.
 21. The storage devicetesting system of claim 20, wherein the manipulator is configured toreleasably attach to multiple storage device transporters.
 22. Thestorage device testing system of claim 20, wherein the manipulatorcomprises: a manipulator body; and first and second connectors disposedon the manipulator body and arranged in a substantially V-shapedconfiguration with respect to each other, each connector beingconfigured to releasably attach to a storage device transporter.
 23. Thestorage device testing system of claim 20, wherein the transfer stationcomprises a transfer station housing configured to receive and supportmultiple storage device totes in a presentation position for servicingby the automated transporter, wherein each storage device tote comprisesa tote body defining multiple storage device receptacles configured toeach house a storage device.